US Patent 10115032 Universal correspondence network

A computer-implemented method for training a convolutional neural network (CNN) is presented. The method includes extracting coordinates of corresponding points in the first and second locations, identifying positive points in the first and second locations, identifying negative points in the first and second locations, training features that correspond to positive points of the first and second locations to move closer to each other, and training features that correspond to negative points in the first and second locations to move away from each other.